ABB CRB 15000 - Page 137

LogicExpression
Valid for scenarios with 1 PROFIsafe-based laser
scanner connected
ISH_Delay_TSP
DELAY(ISH_Ena-
bler_Delay_TSP,WarningArea1,(ISH_AtUser_Peri-
od_ms_Until_TSP / ISH_SMctrl_Frequency),ISH_Count-
Delay_TSP,ISH_Delayed_TSP)
Valid for scenarios with 2 PROFIsafe-based laser
scanners connected
DELAY(ISH_Ena-
bler_Delay_TSP,WarningAreaSM,(ISH_AtUser_Peri-
od_ms_Until_TSP / ISH_SMctrl_Frequency),ISH_Count-
Delay_TSP,ISH_Delayed_TSP)
ISH_Enabler_Delay_SST := (NOT ISH_User-
MODE_bNot_IntermitCollab)
ISH_EnableDelay_Protect-
ing
i
ISH_Enabler_Delay_TSP := ((NOT ISH_User-
MODE_bNot_Cooperation) OR (NOT ISH_User-
MODE_bNot_IntermitCollab))
ISH_EnableDelay_Warning
i
ProtectingAreaSM := (ProtectingArea1 AND Protect-
ingArea2)
ISH_Combination_Protect-
ing
ii
WarningAreaSM := (WarningArea1 AND WarningArea2)ISH_Combination_Waning
ii
i
Required no matter one or two PROFIsafe-based laser scanners are connected.
ii
Required only when two PROFIsafe-based laser scanners are connected.
5 Click Signals view in the Safe IO Configuration page and then click Global
signals to expand the signal list.
6 Click on the Create new signal row and create the following signals.
• ISH_TFO_Active
• ISH_TSP_Active
• ISH_TSP_Viol
• ISH_SST_Active
• ISH_SST_Viol
7 Change the default value of following signals.
Default valueSignal
650ISH_AtUser_Period_ms_Until_SST
550ISH_AtUser_Period_ms_Until_TSP
4ISH_SMctrl_Frequency
1ISH_UserMODE_bNot_Cooperation
Creating encapsulation
1 In the Visual SafeMove browser on the left pane of the window, select the
robot (ROB_1) and click Capsule in the Visual SafeMove ribbon tab to create
two capsule geometries for the robot.
Continues on next page
Product manual - CRB 15000 137
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
3 Installation and commissioning
3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio
Continued